JP6038405B2 - Navigation system and navigation system operating method - Google Patents

Description

  The present invention relates to a navigation system that constructs three-dimensional image information from image information related to a subject acquired in advance, extracts a luminal organ, and generates guidance information, and a method for operating the navigation system.

  Endoscope apparatuses are widely used as medical endoscopes that perform therapeutic treatments using, for example, observation of organs in a body cavity and treatment tools as necessary. When observing or treating with such an endoscope device, the insertion portion of the endoscope is inserted into the lumen, and the distal end of the insertion portion quickly and accurately reaches the destination such as the lesion. It is necessary to let

  In view of this, a navigation technique has been conventionally proposed in which a navigation image is displayed and guided in order to reach the insertion portion of the endoscope to the destination. Such navigation technology is used for luminal organs having a plurality of branched lumens, such as bronchi and kidneys, among organs in the body cavity.

  For example, Japanese Patent Application Laid-Open No. 2011-189074 detects a curved shape of a curved portion using an optical fiber sensor or the like, and fits the detected curved shape and the shape of a branch pipe into which the insertion portion is inserted. A technique for processing and identifying the branch duct where the insertion part is inserted and the branch duct not inserted during the insertion operation of the endoscope and accurately displaying the insertion state of the insertion part with respect to the bronchus is described. Yes.

  In Japanese Patent Application Laid-Open No. 2005-111535, an insertion support start point and an insertion support end point are specified on a model image, and a branch pipe in which an insertion portion is inserted by a pointer is specified on a virtual endoscopic image. Thus, a technique for guiding the distal end position of the insertion portion from the insertion support start point to the insertion support end point is described.

  By the way, a calculus may occur in, for example, the kidney among the above-mentioned organs in the body cavity, and the treatment for removing such a calculus is performed by using a treatment tool or the like protruding from the distal end of the endoscope. It is done while observing with a mirror.

  Specifically, the calculus is first crushed and subdivided. At this time, crushed pieces may scatter and enter the surrounding kidney cup, and it is necessary to extract a lithosphere including these crushed pieces. Therefore, in order to confirm the presence or absence of crushing stones after crushing, it is desirable to observe the entire renal pelvis and kidney cup with an endoscope.

  Therefore, for example, in Japanese National Table No. 2008-537730, in order to be able to check the presence or absence of residual stones in the kidney cup after crushing stones, a marking material is injected into the observed kidney cup, Techniques are described that allow identification of unobserved kidney cups.

  With the technology described in Japanese Patent Application Laid-Open No. 2011-189074 and Japanese Patent Application Laid-Open No. 2005-121535, it is possible to display the insertion state of the insertion portion or to guide to a specified target position. However, it was not supposed to guide all of the lumens branched into a plurality of lumen organs.

  Moreover, in the technique described in the above Japanese special table 2008-537730, the presence or absence of observation cannot be determined without performing the operation of injecting the marking material to all of the observed renal cups. It took time and effort. Furthermore, after observing a certain kidney cup, moving to another unobserved kidney cup at the operator's discretion does not necessarily result in an optimal procedure that shortens the movement path.

  The present invention has been made in view of the above circumstances, and provides a navigation system and an operation method of the navigation system that can easily perform a leak-free examination of a duct branched into a plurality of luminal organs. It is aimed.

A navigation system according to an aspect of the present invention includes a position information acquisition unit that acquires position information of a viewpoint of an endoscope inserted into a subject, and the position information of the viewpoint acquired by the position information acquisition unit. An alignment unit that generates corrected position information aligned with a three-dimensional image of a predetermined luminal organ of a subject, and a plurality of branch ducts in the predetermined luminal organ based on the corrected position information, A position determination unit that determines whether the endoscope has been observed or unobserved, and the branch information determined by the determination unit as unobserved is the unobserved channel, and the position information is acquired. A target setting unit that sets one unobserved pipeline as a first target area based on the current position information of the viewpoint acquired by the unit and the distance of the unobserved pipeline ;
A guidance information generation unit configured to generate guidance information to the first target area set by the target setting unit.

An operation method of a navigation system according to an aspect of the present invention is an operation method of a navigation system including a position information acquisition unit, a positioning unit, a determination unit, a target setting unit, and a guidance information generation unit. The position information acquisition unit acquires the position information of the viewpoint of the endoscope inserted into the subject, and the position adjustment unit acquires the position information of the viewpoint acquired by the position information acquisition unit. Generating corrected position information aligned with a three-dimensional image of a predetermined luminal organ of a specimen, and the determination unit performs a plurality of branch ducts in the predetermined luminal organ on the basis of the corrected position information; It is determined whether or not each has been observed by an endoscope, and when the target setting unit sets the branch pipeline determined to be unobserved by the determination unit as an unobserved pipeline , In the location information acquisition unit Based on the obtained position information and the distance of the unobserved line current of the viewpoint Ri, set one of unobserved line as the first target area, the guidance information generation unit, the target setting unit The guide information to the first target area set by is generated.

The figure which shows the structure of the endoscope system in Embodiment 1 of this invention. FIG. 2 is a block diagram illustrating a configuration of the image processing apparatus according to the first embodiment. 3 is a flowchart showing the operation of the endoscope system in the first embodiment. The flowchart which shows the automatic observation completed determination process in the endoscope system of the said Embodiment 1. FIG. The flowchart which shows the process of the target branch line setting in the endoscope system of the said Embodiment 1. FIG. FIG. 6 is a diagram showing a display example of a display screen of the display device in the first embodiment. The figure which shows the state in which the guidance arrow to the 1st small renal cup in the virtual endoscopic image is displayed in the said Embodiment 1. FIG. The figure which shows the state in which the guidance arrow to the 2nd small renal cup in a virtual endoscopic image is displayed in the said Embodiment 1 after observation of the 1st small renal cup is complete | finished. In the said Embodiment 1, the figure which shows a mode that the guidance of a navigation moves from the 1st small renal cup in a virtual endoscopic image to the 3rd small renal cup through a 2nd small renal cup. The figure which shows the example which displays a guidance arrow in an endoscopic image in the said Embodiment 1. FIG. The figure which shows the example of the insertion auxiliary | assistant image which displayed the target position mark and the insertion impossible mark in the said Embodiment 1. FIG.

  Embodiments of the present invention will be described below with reference to the drawings.

[Embodiment 1]
FIG. 1 to FIG. 11 show Embodiment 1 of the present invention and are diagrams showing a configuration of an endoscope system 1. In the present embodiment, the navigation system is applied to the endoscope system 1 and is configured to perform navigation when the subject is observed by the endoscope system 1.

  As shown in FIG. 1, an endoscope system 1 to which a navigation system is applied includes an endoscope device 4 having an endoscope 2 and a camera control unit (CCU) 3, a position detection device 5, and a server 6. And an image processing device 7 and a display device 8.

  The endoscope 2 includes an elongated insertion portion 11 having flexibility, which is inserted into a subject, an operation portion 12 connected to a proximal end portion of the insertion portion 11, and a side surface of the operation portion 12. And an extended cable 13.

  The operation unit 12 is provided with a navigation button 12a for generating navigation display start instruction data for starting navigation display. The navigation button 12a also serves as a guidance start instruction unit to which a command for starting the generation of guidance information by the guidance information generation unit 34 described later is input. The navigation button 12a is not limited to being provided on the operation unit 12 of the endoscope 2. For example, the navigation button 12a may be provided as a foot switch, or may be provided as a switch having another configuration.

  An imaging system 10 for imaging the inside of the subject is provided at the distal end of the insertion unit 11. Specifically, the imaging system 10 includes an objective optical system that forms an optical image in the subject, and a CCD that photoelectrically converts the optical image formed by the objective optical system to generate an imaging signal. An image sensor. The endoscope 2 is connected to the CCU 3 via the cable 13, and the imaging signal captured by the imaging system 10 and the navigation display start instruction data input from the navigation button 12 a are transmitted to the CCU 3.

  The CCU 3 performs predetermined image processing on the imaging signal transmitted from the endoscope 2 to generate endoscope image data. Also, the CCU 3 receives navigation display start instruction data input from the navigation button 12a.

  A plurality of receiving coils (not shown) are provided at predetermined intervals from the distal end portion to the proximal end portion of the insertion portion 11 described above. The plurality of receiving coils output electrical signals in accordance with the magnetic field generated by the position detection device 5. The endoscope 2 is connected to the position detection device 5 via the cable 14, and each electric signal output from the reception coil is transmitted to the position detection device 5.

  The position detection device 5 as a position information acquisition unit is based on an electrical signal from a reception coil provided at the distal end portion of the insertion portion 11 among a plurality of reception coils, and at the distal end of the insertion portion 11 in the subject. The position information of the viewpoint of the imaging system 10 (this position information includes information on the three-dimensional position of the viewpoint and the line-of-sight direction of the viewpoint) is obtained by calculation. The acquisition of the position information by the position detection device 5 is repeatedly performed at regular time intervals, for example.

  And the position detection apparatus 5 calculates and acquires the insertion shape data which shows the insertion shape of the insertion part 11 based on the electrical signal from the several receiving coil mentioned above. In this case, the curved shape data is acquired using the receiving coil. However, the present invention is not limited to this, and the curved shape data is acquired using, for example, an FBG (Fiber Bragg Grating) sensor. It doesn't matter.

  The CCU 3, the position detection device 5, and the server 6 described above are connected to the image processing device 7. Among these, the server 6 is connected to the image processing apparatus 7 via a communication line such as a hospital LAN.

  The CCU 3 transmits the endoscope image data generated as described above and the navigation display start instruction data received from the endoscope 2 to the image processing device 7.

  The position detection device 5 transmits the position information (position and direction data) of the viewpoint and the insertion shape data of the insertion unit 11 to the image processing device 7.

  On the other hand, for example, the server 6 stores preoperative multi-slice image data 16a to 16n acquired in advance by CT, MRI, PET, or the like before performing the examination by the endoscope system 1. Then, the server 6 transmits these preoperative multi-slice image data 16 a to 16 n to the image processing device 7. Here, the image processing apparatus 7 reads the preoperative multi-slice image data 16a to 16n from the server 6, but instead of this, a CD-ROM or the like that stores the preoperative multi-slice image data 16a to 16n is acceptable. Of course, it is possible to read from a portable recording medium.

  The image processing device 7 creates image data by performing processing to be described later based on each data fetched from the CCU 3, the position detection device 5, and the server 6.

  The image processing device 7 is connected to the display device 8, and the display device 8 receives and displays the image data created by the image processing device 7. The display device 8 is a display unit that displays a navigation image created by the image processing device 7 as will be described later.

  Next, FIG. 2 is a block diagram showing a configuration of the image processing apparatus 7.

  The image processing device 7 includes an image information storage unit 21, an image processing unit 22, a viewpoint position storage unit 23, a registration unit 24, a coordinate conversion unit 25, a determination unit 26, and an input unit 27. ing.

  The image information storage unit 21 reads preoperative multi-slice image data 16a to 16n, which are image information about a subject acquired in advance for constructing three-dimensional image information, from the server 6 and stores them.

  The viewpoint position storage unit 23 stores the position information of the viewpoint acquired by the position detection device 5, and, as described above, for example, a plurality of points acquired by the position detection device 5 repeatedly at regular time intervals. It is possible to accumulate position information at the time.

  The alignment unit 24 includes real space coordinates describing the position information of the viewpoint acquired by the position detection device 5 and stored in the viewpoint position storage unit 23, and a predetermined extracted by the luminal organ extraction unit 31 as described later. Alignment with the 3D image coordinates describing the luminal organ. The alignment by the alignment unit 24 is performed, for example, as calculation of a conversion formula from real space coordinates to three-dimensional image coordinates.

  Note that the alignment method is not limited to the method using the above-described conversion formula. For example, the position detection of the feature points on the patient's body surface as disclosed in Japanese Patent Application Laid-Open No. 2005-31770 is possible. And a matching method based on designation of feature points on three-dimensional image data, or matching between an endoscopic image and a virtual endoscopic image as disclosed in Japanese Patent Laid-Open No. 2009-279251 An alignment method or the like may be employed.

  The coordinate conversion unit 25 converts the position and direction data stored in the viewpoint position storage unit 23 into values on the three-dimensional data coordinates based on the conversion formula calculated by the alignment unit 24. Then, the coordinate conversion unit 25 stores the converted viewpoint position and direction data in the viewpoint position storage unit 23 in association with the position and direction data before conversion and the time stamp.

  In this way, the position information of the viewpoint acquired by the position detection device 5 as the position information acquisition unit is aligned with the three-dimensional image coordinate information of a predetermined luminal organ by the alignment unit 24 and the coordinate conversion unit 25. An alignment unit that generates correction position information is configured.

The determination unit 26 observes the branch pipes based on the position information of the branch pipes extracted within a predetermined area by the branch pipe extraction unit 32 and the corrected correction position information as described later. The presence or absence of is determined. The determination unit 26 cumulatively stores the determination results of the determination unit 26 when the position indicated by the corrected position information received via the viewpoint position storage unit 23 is within the predetermined area described above. A portion 36 is provided. The determination unit 26 determines whether or not the branch pipe is observed every time position information is acquired at a constant time interval, and accumulates and stores the latest determination result in the determination result storage unit 36. It has become. Thereby, the stored content of the determination result storage unit 36 is, for example,
"Branch line 1: not observed, branch line 2: unobserved, ..., branch line n: not observed"
→ "Branch line 1: Not observed, Branch line 2: Observed, ..., Branch line n: Not observed"
As the observation progresses, the observation state of each branch pipe is changed sequentially from “unobserved” to “observed”.

  The input unit 27 is used to input an operation to the image processing apparatus 7 and includes an area designating unit that can designate a predetermined area from which the branch pipe extraction unit 32 extracts a branch pipe. . The area specified by the area specifying unit is a predetermined area to be observed. Here, the predetermined region can be arbitrarily designated with respect to the predetermined luminal organ extracted by the luminal organ extracting unit 31, and may be a part of the predetermined luminal organ or all of them. It does not matter.

  The image processing unit 22 includes a luminal organ extracting unit 31, a branch duct extracting unit 32, a target setting unit 33, and a guidance information generating unit 34.

  The luminal organ extracting unit 31 reads out the image information (preoperative multi-slice image data 16a to 16n) stored in the image information storage unit 21 to construct three-dimensional image information, and further determines predetermined information from the three-dimensional image information. Extract luminal organs. Here, it is assumed that the extracted luminal organ has a luminal structure of the kidney as an example. At this time, the luminal organ extraction unit 31 uses, as the luminal organ 51, for example, the ureter 52, the renal pelvis 53, the large renal cup 54, the small renal cup 55, and the renal papilla 56 (or, if necessary, the bladder and the urethra). A predetermined luminal organ is extracted (see FIG. 6).

  The branch duct extraction unit 32 extracts a branch duct existing in a predetermined region to be observed set by the input unit 27 from a predetermined lumen organ. In order to perform an inspection without any leakage, it is preferable that the branch pipe extraction unit 32 extracts all the branch pipes existing in a predetermined area.

  The target setting unit 33 sets one of the unobserved branch pipelines determined as unobserved by the determination unit 26 as the target branch pipeline. The setting of the target branch pipeline by the target setting unit 33 is performed based on the latest stored contents of the determination result storage unit 36 described above.

  Specifically, the target setting unit 33 sets the unobserved branch pipe that is closest to the current viewpoint position indicated by the correction position information (preferably at the distal end side in the insertion direction of the insertion section 11) as the target branch pipe. To do.

  Further, when the determination unit 26 determines that the target branch pipe has not been observed, the target setting unit 33 is on the front side of the current viewpoint position indicated by the correction position information. If the current viewpoint position is not on the tip side, the target branch pipeline is updated based on the corrected position information. As will be described later, when the operator performs an operation that deviates from the navigation route, a new target branch pipeline is set based on the current viewpoint position so that appropriate navigation can always be performed. Because.

  When the determination unit 26 determines that the target branch pipeline has been observed, the guidance information generation unit 34 changes the target branch pipeline to the target setting unit 33 and another one of the unobserved branch pipelines. While updating, guidance information to the target branch pipeline is generated. As a result, navigation to unobserved branch pipelines is performed one after another.

  When the above-described branch pipe extraction unit 32 extracts all branch pipes existing in a predetermined area, can the guidance information generation unit 34 insert the insertion unit 11 for all the extracted branch pipes? It is determined whether or not, and guidance information to all the branch pipes determined to be insertable is sequentially generated.

  At this time, the guidance information generation unit 34 may generate the guidance information at regular time intervals in accordance with the acquisition of the positional information by the position detection device 5 that is repeatedly performed at regular time intervals as described above. Thereby, it becomes possible to display guidance information in real time.

  As described above, the navigation button 12a is a guidance start instruction unit to which a command to start generation of guidance information by the guidance information generation unit 34 is input. The guidance information generation unit 34 receives a command to the navigation button 12a. Guidance information is generated from the point in time. Therefore, when the surgeon considers that navigation is unnecessary and does not operate the navigation button 12a, no guidance information is generated, that is, it is not displayed on the display device 8.

  The image processing unit 22 superimposes the guidance information generated by the guidance information generation unit 34 on the virtual endoscopic image 42, the endoscope image 43, or the like to form a navigation image, and image data for display together with other display information Is output to the display device 8. As a result, a navigation image is displayed on the display device 8.

  Here, FIG. 6 is a diagram illustrating a display example of the display screen 8 a of the display device 8. In the description of the embodiment, the reference numerals in the image displayed on the display screen 8a in FIG. 6 are used as appropriate.

  As shown in FIG. 6, for example, an overhead image 41, a virtual endoscopic image 42, and an endoscopic image 43 are displayed on the display screen 8 a of the display device 8. Here, the bird's-eye view image 41 is a two-dimensional image of the luminal organ observed stereoscopically when the luminal organ constructed as the three-dimensional image data is looked down on. The virtual endoscopic image 42 is a two-dimensional image when a luminal organ constructed as three-dimensional image data is observed from the viewpoint position of the imaging system 10. The endoscopic image 43 is a captured image captured by the imaging system 10. Note that the display example shown in FIG. 6 is merely an example, and other information may be displayed or some information may be omitted.

  In the bird's-eye view image 41 shown in FIG. 6, the ureter 52, renal pelvis 53, large renal cup 54, small renal cup 55, and renal papilla 56 in the luminal organ 51 are displayed. An insertion portion image 61 showing the insertion shape is displayed. The tip of the insertion portion image 61 is the current viewpoint position 60. In the example shown in the bird's-eye view image 41 of FIG. 6, the current viewpoint position 60 is in the great kidney cup 54.

  The endoscopic image 43 shown in FIG. 6 shows the openings of a plurality of small renal cups 55 observed from the large renal cup 54 corresponding to the viewpoint position 60 of the current imaging system 10 in the large renal cup 54. Is displayed.

  Further, the virtual endoscopic image 42 displays openings of a plurality of small kidney cups 55 that should be observed from the viewpoint position 60 of the current imaging system 10.

  Next, FIG. 3 is a flowchart showing the operation of the endoscope system 1.

  When the processing shown in FIG. 3 is started, the image processing apparatus 7 accesses the server 6, reads preoperative multi-slice image data 16 a to 16 n, and stores them in the image information storage unit 21. Then, the luminal organ extraction unit 31 constructs 3D image information from the preoperative multi-slice image data 16a to 16n stored in the image information storage unit 21, and further, a predetermined luminal organ from the constructed 3D image information. Is extracted (step S1).

  Subsequently, the branch channel extraction unit 32 selects a branch channel existing in a predetermined region to be observed set by the input unit 27 from the predetermined lumen organ extracted by the lumen organ extraction unit 31. Further extraction is performed (step S2).

  Then, the automatic observation determination process shown in FIG. 4 is started (step S3).

  Here, FIG. 4 is a flowchart showing an automatic observation completion determination process in the endoscope system.

  When this process is started, the latest viewpoint position information is acquired from the position detection device 5 and stored in the viewpoint position storage unit 23 (step S21).

  Next, the acquired latest viewpoint position information is aligned with the three-dimensional image coordinate information by the alignment unit 24 and the coordinate conversion unit 25, and corrected position information is generated (step S22).

  Subsequently, based on the correction position information, the determination unit 26 determines whether or not the branch pipe in the predetermined area to be observed has been observed (step S23).

  Then, the determination result is cumulatively stored in the determination result storage unit 36 as described above (step S24), and it is determined whether or not to end this process based on whether or not a process end signal has been received (step S24). Step S25).

  If it is determined that the process has not been completed yet, the process returns to step S21 to obtain the next latest viewpoint position information and perform the above-described processing. Finish.

  By performing such processing, the determination result storage unit 36 stores the latest information on whether each branch pipe in the predetermined area has been observed or not observed. .

  Returning to the description of FIG. 3, after the automatic observation completion determination process is started in step S <b> 3, the process waits until the navigation button 12 a is operated to turn on the navigation display (step S <b> 4). Here, while waiting for an operation to turn on the navigation display, the automatic observation completion determination process started in step S3 continues to be executed in parallel as described above.

  Thus, when it is determined in step S4 that the navigation display is turned on, based on the latest determination result of the automatic observation completion determination process stored in the determination result storage unit 36, a predetermined area to be observed is determined. It is determined whether or not there is an unobserved branch pipe (step S5).

  Here, when it is determined that an unobserved branch pipe exists, a target branch pipe setting process is performed (step S6).

  Here, FIG. 5 is a flowchart showing a process of setting a target branch pipeline in the endoscope system 1.

  When this process is started, based on the latest determination result of the automatic observation completion determination process stored in the determination result storage unit 36, whether or not an unobserved branch pipe exists on the tip side from the current viewpoint position is determined. Is determined (step S31). The distal end side here is a direction that is a path that pulls the endoscope 2 back to the proximal end side of the endoscope 2 when the path to the unobserved branch duct is traced along the branch duct of the lumen. Instead, a direction that is a path for advancing the endoscope 2 toward the distal end side of the current endoscope 2 is shown.

  Here, when it is determined that an unobserved branch pipe exists on the tip side from the current viewpoint position, the closest unobserved branch pipe located on the tip side from the current viewpoint position is selected. (Step S32).

  In step S31, when it is determined that there is no unobserved branch pipe on the tip side of the current viewpoint position, the unobserved branch located closest to the current viewpoint position except for the tip side. The pipeline is selected as the selected branch pipeline (step S33). The closeness at this time is determined by the distance of the route along the branch pipe.

  Then, it is determined whether or not the inner diameter of the selected branch pipe selected in step S32 or step S33 is equal to or larger than the outer diameter of the insertion section 11, that is, whether or not the insertion section 11 can be inserted (step). S34).

  If it is determined that insertion is possible, the selected branch pipeline is set as the target branch pipeline for navigation (step S35).

  If it is determined in step S34 that the insertion is impossible, the selected branch pipeline is excluded from the target branch pipeline selection targets (step S36).

  After performing step S35 or step S36 in this way, the process returns to the process shown in FIG.

  When the process returns to the process shown in FIG. 3 from the process of setting the target branch pipe in step S6, it is determined whether or not the target branch pipe has been set in step S6 (step S7). That is, as described above, if the process of step S35 is performed, the target branch pipe is set, and if the process of step S36 is performed, the target branch pipe is not yet set. For this reason, this determination is made here.

  If it is determined that the target branch pipe has not been set yet, the process returns to the above-described step S5 to determine whether an unobserved branch pipe exists. This process is performed again to reset the target branch pipeline.

  If it is determined in step S7 that the target branch pipeline is set, navigation information for guiding the target branch pipeline from the current viewpoint position is generated (step S8).

  And based on the newest determination result memorize | stored in the determination result memory | storage part 36, it is determined whether the target branch pipeline has been observed (step S9).

  If it is determined that the target branch pipe has been observed, the process returns to step S5 and the above-described process is repeated.

  If it is determined that the target branch pipe has not been observed, it is determined whether or not the position of the target branch pipe is closer to the tip than the current viewpoint position (step S10). This is because when the surgeon inserts the insertion portion 11 according to the navigation, the position of the target branch conduit should be on the tip side from the current viewpoint position, but the surgeon performs an operation that deviates from the navigation path. In this case, for example, when the insertion portion 11 is inserted into a branch pipe different from the target branch pipe indicated by the navigation, the position of the target branch pipe should not be on the tip side with respect to the current viewpoint position. There is also. This step S10 is a determination for identifying such a case.

  Here, when it is determined that the position is on the tip side with respect to the current viewpoint position, the process returns to step S9 and waits for the target branch pipe to be observed.

  On the other hand, if it is determined in step S10 that the position is not the tip side from the current viewpoint position, in order to reset a more appropriate target branch pipeline based on the current viewpoint position, in step S5 described above, Return to processing.

  Thus, when it is determined in step S5 that there are no unobserved branch lines in the predetermined area, that is, all the branch lines in the predetermined area have been observed. This process is terminated after the process is terminated (step S11), for example, by transmitting a process end signal to the automatically observed determination process started in step S11.

  Next, FIG. 7 is a diagram showing a state in which a guide arrow 62 to the first small kidney cup 55a in the virtual endoscopic image 42 is displayed, and FIG. 8 shows the observation of the first small kidney cup 55a. FIG. 9 is a diagram showing a state in which a guide arrow 62 to the second small kidney cup 55b in the virtual endoscopic image 42 is displayed after the completion, and FIG. 9 shows the first small small image in the virtual endoscopic image 42 It is a figure which shows a mode that the guidance of navigation moves from the renal cup 55a to the 3rd small renal cup 55c through the 2nd small renal cup 55b.

  For example, as shown in the bird's-eye view image 41 of FIG. 6, the viewpoint position 60 of the current imaging system 10 is in the large kidney cup 54, and from this viewpoint position 60, the virtual endoscopic image 42 or the endoscopic image is displayed. Assume that three small kidney cups 55 are observed as shown at 43.

  At this time, as shown in FIG. 7, for example, the first small renal cup 55a, which is the closest unobserved branch pipe located on the tip side of the current viewpoint position 60, is set as the target branch pipe, and the target branch is obtained. As an example of navigation to the first small renal cup 55a that has become a duct, a guide arrow 62 is displayed in the virtual endoscopic image 42, for example. In the example shown in FIG. 7, the guide arrow 62 starts from the center position of the virtual endoscopic image 42 corresponding to the current viewpoint position 60, and ends at the first small renal cup 55a that is the target branch conduit. It is an arrow in the direction. However, the guide arrow 62 shown in FIG. 7 (and FIG. 8) is an example of the navigation display and is not limited to this display mode, and other modes of navigation display may be used.

  When the observation of the first small renal cup 55a is completed in this way, the first small renal cup 55a is already observed, and is therefore the closest unobserved branch line on the distal end side relative to the current viewpoint position 60. For example, the second small renal cup 55b is set as the next target branch conduit, and a guidance arrow 62 as shown in FIG. 8 is displayed as navigation to the second small renal cup 55b that has become the target branch conduit. .

  As described above, the guidance by the navigation display is, for example, from the first small renal cup 55a to the second small renal cup 55b in the order closer to the inside of the unobserved branch pipe located on the distal side than the current viewpoint position 60. As shown in FIG. 9, the third small kidney cup 55c is moved in order.

  7 to 9 show an example in which navigation display is performed in the virtual endoscopic image 42. As shown in FIG. 10, a guide arrow 62 as an example of navigation display is displayed in the endoscopic image 43. You may make it do. FIG. 10 is a diagram illustrating an example in which a guide arrow 62 is displayed in the endoscopic image 43. In addition, the navigation display may be performed on the overhead image 41 without being limited thereto.

  Further, FIG. 11 is a diagram showing an example of an auxiliary insertion image in which the target position mark 63 and the insertion impossible mark 64 are displayed.

  In the example shown in FIG. 11, a target position mark 63 and a non-insertable mark 64 are displayed in the overhead view image 41 to obtain an insertion auxiliary image. Here, the target position mark 63 is a mark indicating the current position of the target branch pipe set by the process of step S35 described above. Further, the insertion impossible mark 64 is a mark indicating the position of the branch pipe that has been excluded from the target branch pipe selection targets by the process of step S36 described above. The auxiliary insertion information such as the target position mark 63 and the non-insertable mark 64 may be displayed on the virtual endoscopic image 42 and the endoscopic image 43.

  According to the first embodiment, when one of the unobserved branch pipelines determined to be unobserved is set as the target branch pipeline, and it is determined that the target branch pipeline has been observed. Since the guidance information to the target branch pipeline is generated while updating the target branch pipeline to another one of the unobserved branch pipelines, the target branch pipelines are sequentially switched to a plurality of lumen organs. The insertion operation is assisted, and it is possible to easily perform an inspection without any leakage.

  At this time, all the branch pipes existing in the predetermined area are extracted, and it is determined whether or not the insertion section can be inserted for all the extracted branch pipes. By sequentially generating the guidance information to the branch pipeline, it is possible to inspect all the branch pipelines that can be inspected in a predetermined area.

  In addition, since the input unit 27 that is an area designating unit capable of designating a predetermined area from which a branch pipe is to be extracted is further provided, a desired area can be set as an inspection target.

  And since the unobserved branch pipe closest to the current viewpoint position indicated by the correction position information is set as the target branch pipe, the observation order is optimized and the movement amount of the insertion unit 11 is reduced. Inspection time can be shortened and inspection efficiency can be improved.

  At this time, the observation order can be optimized by setting the nearest unobserved branch pipe on the tip side of the current viewpoint position as the target branch pipe.

  Further, it is determined whether or not the unobserved target branch pipeline is on the tip side with respect to the current viewpoint position. Since the pipeline has been updated, even if the current viewpoint position deviates from the navigation route due to the operator's operation, the optimal target branch pipeline at that time can be set at any time, and appropriate navigation is always performed. Can be done.

  Then, when the position indicated by the correction position information is within the region, the determination result of whether or not the observation has been completed is cumulatively stored, and the target branch pipeline is set based on the latest stored content. It is not necessary to determine whether or not the branch pipe has been observed every time the pipe is set, so that the processing load can be reduced and the processing time can be shortened.

  In addition, since the guidance information generation unit 34 generates the guidance information from the time when a command is input to the navigation button 12a which is a guidance start instruction unit, the operator turns navigation display on / off at a desired timing. Can be switched.

  Although the navigation system has been mainly described above, an operation method for operating the navigation system as described above may be used, a program for causing a computer to realize the operation method of the navigation system, and a computer for recording the program It may be a non-temporary recording medium that can be read by the above.

  Further, the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope in the implementation stage. In addition, various aspects of the invention can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, you may delete some components from all the components shown by embodiment. Furthermore, the constituent elements over different embodiments may be appropriately combined. Thus, it goes without saying that various modifications and applications are possible without departing from the spirit of the invention.

  This application is filed on the basis of the priority claim of Japanese Patent Application No. 2014-145312 filed in Japan on July 15, 2014, and the above disclosed contents include the present specification, claims, It shall be cited in the drawing.

Claims (12)

A position information acquisition unit that acquires position information of the viewpoint of the endoscope inserted into the subject;
An alignment unit that generates corrected position information in which the position information of the viewpoint acquired by the position information acquisition unit is aligned with a three-dimensional image of a predetermined luminal organ of the subject;
A determination unit that determines whether each of the plurality of branch ducts in the predetermined luminal organ is observed or unobserved by the endoscope based on the correction position information;
Based on the current position information of the viewpoint acquired by the position information acquisition unit and the distance of the unobserved pipe , when the branch pipe determined to be unobserved by the determination unit is an unobserved pipe A target setting unit that sets one unobserved pipeline as the first target region;
A guide information generating unit that generates guide information to the first target area set by the target setting unit;
A navigation system comprising: The target setting unit sets, as a first target region, an unobserved pipeline that is closest to the current position information of the viewpoint acquired by the position information acquisition unit among the plurality of unobserved pipelines. The navigation system according to claim 1, wherein the navigation system is characterized. When the determination unit determines that the first target region has been observed, the target setting unit is the closest to the current viewpoint position among the unobserved pipelines excluding the first target region. Set the nearest unobserved pipeline as the second target area,
The navigation system according to claim 2, wherein the guidance information generation unit generates guidance information for the second target area . An image processing unit for generating two-dimensional image data representing an optical image in the subject acquired by the endoscope;
The navigation system according to claim 1, wherein the image processing unit superimposes the guidance information generated by the guidance information generation unit on the two-dimensional image data and outputs the superimposed information to a display unit . The target setting unit sets, as the first target region, an unobserved branch pipe that is closest to the current viewpoint position indicated by the correction position information on the distal end side in the insertion direction of the insertion unit. The navigation system according to claim 1 . An image information storage unit for storing image information related to the subject acquired in advance;
A luminal organ extraction unit that extracts the predetermined luminal organ from the image information;
A branch line extraction unit for extracting a branch line existing in a predetermined region from the predetermined luminal organ;
The navigation system according to claim 1, further comprising: The branch pipe extraction unit extracts all branch pipes existing in the predetermined area,
The guidance information generation unit determines whether or not an insertion unit can be inserted for all branch pipelines extracted by the branch pipeline extraction unit, and determines to all branch pipelines determined to be insertable. The navigation system according to claim 6, wherein the guidance information is sequentially generated . The navigation system according to claim 6, further comprising an area designating unit capable of designating the predetermined area as a target for extracting the branch pipe by the branch pipe extracting unit . When the determination unit determines that the first target region has not been observed, the target setting unit is positioned at a tip of the first target region with respect to the current viewpoint position indicated by the correction position information. If the current viewpoint position is not the tip side from the current viewpoint position, based on the corrected position information, the current viewpoint among the unobserved pipelines excluding the first target area The navigation system according to claim 5, wherein an unobserved pipeline closest to the position is set as the second target area .   A determination result storage unit that cumulatively stores the determination result of the determination unit when the position indicated by the correction position information is within a predetermined region of the predetermined luminal organ;
  The navigation system according to claim 1, wherein the target setting unit sets the first target region based on the latest stored contents of the determination result storage unit.   A guidance start instruction unit for inputting a command to start generation of the guidance information by the guidance information generation unit;
  The navigation system according to claim 1, wherein the guidance information generation unit generates the guidance information from the time when the command is input to the guidance start instruction unit.   An operation method of a navigation system including a position information acquisition unit, a position alignment unit, a determination unit, a target setting unit, and a guidance information generation unit,
  The position information acquisition unit acquires position information of the viewpoint of the endoscope inserted into the subject,
  The alignment unit generates corrected position information in which the position information of the viewpoint acquired by the position information acquisition unit is aligned with a three-dimensional image of a predetermined luminal organ of the subject;
  The determination unit determines whether the endoscope has been observed or not observed with respect to a plurality of branch ducts in the predetermined luminal organ based on the correction position information,
  When the target setting unit sets the branch pipeline determined as unobserved by the determination unit as an unobserved pipeline, the current position information of the viewpoint acquired by the position information acquisition unit and the unobserved Based on the distance of the pipeline, one unobserved pipeline is set as the first target area,
  The navigation system operating method, wherein the guidance information generation unit generates guidance information to the first target area set by the target setting unit.

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